CN105680454A - Voltage and reactive power comprehensive control system of ship power generator - Google Patents

Abstract

The invention designs a voltage and reactive power comprehensive control system of a ship power generator. In the system, an output reactor is arranged between the power generator and a busbar, and active power and reactive power of the power generator are calculated by detecting end voltage, output current and busbar voltage of the power generator. The voltage and the reactive power of the power generator are comprehensively controlled by using an AVR triple regulation loop of a busbar voltage regulator, a reactive power regulator and a power generator voltage regulator, and dynamic and static control performance of voltage and reactive power allocation of a power grid is effectively improved; even the types and the capacities of parallel power generators are not consistent, such comprehensive control system also acquires a favorable control effect, circulation among the parallel power generators is suppressed, and the stability of the ship power system is enhanced.

Description

Marine generator voltage and wattless power integrated control system

Technical field

The present invention relates to exciter current of generator automatic control technology, particularly relate to the Comprehensive Control of parallel running marine generator voltage and wattless power, it is ensured that electrical network voltage constant, wattless power properly distributed, it is to increase marine electric power system stability.

Technical background

For marine electric power system, variation of load is the major cause causing voltage fluctuation and wattless power distribution change, and for this reason, every platform generator all configures a set of voltate regulator (AVR). AVR changes according to the operation condition of generator and load, automatically regulates magnetizing current, stablizes to maintain generator output end voltage. Meanwhile, utilizing the voltage-wattless power of AVR to have a down dip characteristic, namely generator voltage exports with wattless power increases and slightly declines, it is achieved the wattless power distribution between generator in parallel. But, this kind of traditional AVR exists significantly not enough, signal communication is lacked between each AVR, and there is difference in the electromagnetic parameter of each AVR and generator, generator power factor in parallel can not be consistent, especially, during the big ups and downs of electrical network load, there is a large amount of circulation between generator in parallel, even cause generator tripping and full ship dead electricity.

Summary of the invention

For above-mentioned present situation and correlation technique Problems existing, a kind of voltage and the wattless power integrated control system being applicable to marine generator of inventive design. This system is provided with out put reactor between generator and busbar, by detection generator voltage, outward current and busbar voltage, calculates wattful power and the wattless power of generator. Utilize the triple regulating loop of busbar voltage regulator, reactive power regulator and AVR, Comprehensive Control generator voltage and wattless power, effectively improve electrical network voltage and the sound state control performance of wattless power distribution. Even if the model of generator in parallel, capacity are inconsistent, this kind of integrated control system also can obtain good control effect, suppresses circulation between generator in parallel, promotes marine electric power system stability.

The concrete technical scheme of marine generator voltage of the present invention and wattless power integrated control system is as follows:

A kind of marine generator voltage and wattless power integrated control system, be made up of triple regulating loop, and innermost layer is n generator AVR terminal voltage regulating loop in parallel, and n is generator quantity in parallel, timeconstantτ_vFor 0.5s;Middle layer is multiple-input and multiple-output wattless power regulating loop, timeconstantτ_QIt is 1～5s; Outermost layer is busbar voltage regulation loop, timeconstantτ_BFor 10s; It is characterized in that, middle layer comprises multiplier, the dynamic decoupling zero matrix unit of wattless power, reactive power regulator diagonal matrix unit, signals collecting and wattful power and wattless power calculates unit and generator runs limit diagonal matrix storage unit; The signals collecting in middle layer and wattful power and wattless power calculate unit and gather generator voltage V_i(V₁..., V_n), busbar voltage V_BAnd generator outward current, after signal processing, calculate the meritorious of each generator and wattless power; Operation limit diagonal matrix [PVL] of generator operation limit diagonal matrix storage unit represents the operation limit area of each generator, is stored among the internal memory of system; According to generator active power P and terminal voltage V, comparison runs limit diagonal matrix [PVL], calculates the reactive power auxiliary service value Q of generator_lim+ or Q_lim-, and with vector [Q_lim+/Q_lim-] represent; The horizontal instruction q of wattless power_levRepresent that Controlling System is to the expected value of each generator reactive power, represents with the percentage ratio relative to reactive power auxiliary service value; The horizontal instruction q of wattless power_levIt is multiplied by reactive power auxiliary service vector [Q_lim+/Q_lim-], obtain wattless power set(ting)value vector [Q_ref], i.e. each generator reactive power set(ting)value; By the dynamic decoupling zero matrix unit of wattless power, by wattless power set(ting)value vector [Q_ref] Multiple input-output (MIMO) the loop dynamic decoupling zero of equivalence is single input-mono-output (SISO) loop, and transfers in the diagonal matrix [GRPR] of reactive power regulator diagonal matrix unit; Reactive power regulator diagonal matrix unit passes through each reactive power regulator corresponding in its diagonal matrix [GRPR] to the AVR output voltage correction signal of correspondence, increase in demand according to wattless power or reduce the voltage setting value reactive power regulator of AVR, thus control each generator reactive power and busbar voltage.

Accompanying drawing explanation

Fig. 1 marine generator voltage reactive integrated control system structural representation

Wherein, 1 is busbar voltage regulator; 2 is multiplier; 3 is the dynamic decoupling zero matrix unit of wattless power; 4 is reactive power regulator diagonal matrix unit; 5 is that signals collecting and wattful power and wattless power calculate unit; 6 is generator operation limit diagonal matrix storage unit; AVR1～AVRn is each generator voltage regulator; V₁～V_nFor each generator voltage; x₁～x_nFor the reactance value of each generator out put reactor; Q is wattless power vector, represents each generator reactive power; P is wattful power vector, represents each generator active power; V is terminal voltage vector, represents each generator voltage; [Q_lim+/Q_lim-] it is reactive power auxiliary service vector, represent the reactive power auxiliary service value of each generator; V_BrefFor busbar voltage setting value; q_levFor the horizontal instruction of wattless power; [Q_ref] it is wattless power set(ting)value vector, represent each generator reactive power set(ting)value.

Embodiment

1) system architecture

Marine generator voltage and wattless power integrated control system, as shown in Figure 1, be made up of triple regulating loop: innermost layer is the terminal voltage regulating loop of each generator AVR, timeconstantτ_vAbout 0.5s; Middle layer is multiple-input and multiple-output (MIMO) wattless power regulating loop, timeconstantτ_QAbout 1～5s; Outermost layer is busbar voltage regulation loop, timeconstantτ_BAbout 10s." signals collecting PQ calculating " unit gathers generator voltage V_i(V₁..., V_n), busbar voltage V_BAnd generator outward current, after signal processing, calculate the meritorious of each generator and wattless power. Run the operation limit area that limit diagonal matrix [PVL] represents each generator, it is stored among the internal memory of system. According to generator active power P and terminal voltage V, comparison diagonal matrix [PVL], calculates the reactive power auxiliary service value Q of generator_lim+ or Q_lim-。

From the angle of busbar voltage regulator and reactive power regulator, AVR can regard the performer of regulator generator terminal voltage as, and its dynamic property can use its timeconstantτ_vWeigh. Integrated form reactive power regulator diagonal matrix [GRPR] controls each generator reactive power. The horizontal instruction q of wattless power_levRepresent that Controlling System is to the expected value of each generator reactive power, represents with the percentage ratio relative to reactive power auxiliary service value. The reactive power auxiliary service value of each generator utilizes operation limit diagonal matrix [PVL] and generator P and V to obtain, and with vector [Q_lim+/Q_lim-] represent. The horizontal instruction q of wattless power_levIt is multiplied by reactive power auxiliary service vector [Q_lim+/Q_lim-], wattless power set(ting)value vector [Q can be obtained_ref], i.e. each generator reactive power set(ting)value. In diagonal matrix [GRPR], each reactive power regulator is to the AVR output voltage correction signal of correspondence, according to the increase in demand of wattless power or the voltage setting value reducing AVR.

2) principle of work

Process for simplifying the analysis, ignores current in resistance property. The wattless power that each generator exports is:

$Q_i\≅V_i\·\frac{V_i-V_B}{x_t}\≅\frac{V_i-V_B}{x_t}---\left(1\right)$

In formula, V_iFor generator voltage (perunit value), about equal 1; V_BFor busbar voltage (perunit value); x_tFor the reactance value of generator out put reactor.

Relation between busbar voltage and each generator voltage can represent:

$V_B=\underset{i=1}{\overset{n}{\Σ}}{V}_i\frac{x_e}{{\mathrm{nx}}_e+x_t}---\left(2\right)$

In formula, n is generator quantity in parallel; x_eFor the equivalent reactance of the whole load of network of ship.

(1) and (2) is represented with deviation amount, can obtain:

${\mathrm{\ΔQ}}_i\≅\frac{{\mathrm{\ΔV}}_i-{\mathrm{\ΔV}}_B}{x_t}---\left(3\right)$

With

${\mathrm{\ΔV}}_B=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\ΔV}}_i\frac{x_e}{{\mathrm{nx}}_e+x_t}---\left(4\right)$

Visible, because of terminal voltage deviation delta V_iCause generator reactive power deviation delta Q_iRelation can represent and be:

${\mathrm{\ΔQ}}_i=\frac{{\mathrm{\ΔV}}_i-\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\ΔV}}_i\frac{x_e}{{\mathrm{mx}}_e+x_t}}{x_t}---\left(5\right)$

Visible, electric parameter x_tAnd x_eBe coupled the wattless power deviation delta Q of each generator in parallel_iWith terminal voltage deviation delta V_i, therefore, (5) formula can be expressed in matrix as:

[Δ Q]=[EC] × [Δ V] (6)

In formula, [Δ Q] is wattless power bias vector; [Δ V] is terminal voltage bias vector; [EC] is electric parameter coupled matrix, and its element is:

$\left\{\begin{array}{c}{\mathrm{ec}}_{ii}=\frac{1}{x_t}-\frac{x_e}{x_t({\mathrm{nx}}_e+x_t)}\\ {\mathrm{ec}}_{ij}=-\frac{x_e}{x_t({\mathrm{nx}}_e+x_t)}\end{array}\right.,i\≠j---\left(7\right)$

(6) are rewritten as:

[Δ V]=[DD] × [Δ Q] (8)

In formula, [DD] is defined as dynamic decoupling zero matrix, is the inverse matrix of electric parameter coupled matrix [EC], can directly be obtained by circuit counting:

${\mathrm{\ΔV}}_{BUS}=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\ΔQ}}_i\·x_e---\left(9\right)$

(3) are substituted into (9), can obtain:

${\mathrm{\ΔV}}_i={\mathrm{\ΔQ}}_i\·x_t+\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\ΔQ}}_i\·x_e---\left(10\right)$

Visible, dynamic decoupling zero matrix [DD] can be obtained from (10), its element is:

$\{\begin{array}{c}{\mathrm{dd}}_{ii}=x_t+x_e\\ {\mathrm{dd}}_{ij}=x_e\end{array},i\≠j---\left(11\right)$

Reactive power regulator diagonal matrix transport function may be defined as:

$\[GRPR\left(s\right)\]=diag\left\{\frac{1}{{\mathrm{s\τ}}_Q}\right\}---\left(12\right)$

The effect of dynamic decoupling zero matrix [DD] is, Multiple input-output (MIMO) loop dynamic decoupling zero wattless power regulated is single input-mono-output (SISO) loop. The corresponding generator in each loop obtained after decoupling zero, they have identical transport function:

$F_Q\left(s\right)=\frac{1}{1+{\mathrm{s\τ}}_Q}---\left(13\right)$

Adopt dynamic decoupling zero matrix [DD], it is possible to greatly simplify integrated control system structure, effectively strengthen stability and the robustness of marine electric power system simultaneously.

Claims (1)

1. marine generator voltage and a wattless power integrated control system, be made up of triple regulating loop, and innermost layer is n generator AVR terminal voltage regulating loop in parallel, and n is generator quantity in parallel, timeconstantτ_vFor 0.5s;Middle layer is multiple-input and multiple-output wattless power regulating loop, timeconstantτ_QIt is 1～5s; Outermost layer is busbar voltage regulation loop, timeconstantτ_BFor 10s; It is characterized in that, middle layer comprises multiplier, the dynamic decoupling zero matrix unit of wattless power, reactive power regulator diagonal matrix unit, signals collecting and wattful power and wattless power calculates unit and generator runs limit diagonal matrix storage unit; The signals collecting in middle layer and wattful power and wattless power calculate unit and gather generator voltage V_i(V₁..., V_n), busbar voltage V_BAnd generator outward current, after signal processing, calculate the meritorious of each generator and wattless power; Operation limit diagonal matrix [PVL] of generator operation limit diagonal matrix storage unit represents the operation limit area of each generator, is stored among the internal memory of system; According to generator active power P and terminal voltage V, comparison runs limit diagonal matrix [PVL], calculates the reactive power auxiliary service value Q of generator_lim+ or Q_lim-, and with vector [Q_lim+/Q_lim-] represent; The horizontal instruction q of wattless power_levRepresent that Controlling System is to the expected value of each generator reactive power, represents with the percentage ratio relative to reactive power auxiliary service value; The horizontal instruction q of wattless power_levIt is multiplied by reactive power auxiliary service vector [Q_lim+/Q_lim-], obtain wattless power set(ting)value vector [Q_ref], i.e. each generator reactive power set(ting)value; By the dynamic decoupling zero matrix unit of wattless power, by wattless power set(ting)value vector [Q_ref] Multiple input-output (MIMO) the loop dynamic decoupling zero of equivalence is single input-mono-output (SISO) loop, and transfers in the diagonal matrix [GRPR] of reactive power regulator diagonal matrix unit; Reactive power regulator diagonal matrix unit passes through each reactive power regulator corresponding in its diagonal matrix [GRPR] to the AVR output voltage correction signal of correspondence, increase in demand according to wattless power or reduce the voltage setting value reactive power regulator of AVR, thus control each generator reactive power and busbar voltage.